Energy optimization based integrated stabilization device dual neural network self-tuning PID (Proportion Integration Differentiation) control method

Abstract

The invention provides an energy optimization based integrated stabilization device dual neural network self-tuning PID (Proportion Integration Differentiation) control method. The energy optimization based integrated stabilization device dual neural network self-tuning PID control method comprises establishing an integrated stabilization system model and serving the inclined angle of sea waves as the integrated stabilization system input; creating performance indexes according to the established integrated stabilization system model, wherein the performance indexes mainly comprise the roll angle variance, the fin angle saturation rate and the driving fin stabilizer system energy consumption; performing online adjustment on parameters of a PID controller through a dual neural network to implement the self-tuning of the PID parameters; adding a delay link into the PID controller under the real-time sea conditions; performing real-time adjustment on the delay time to enable the stabilization capability of a fin stabilizer and a stabilization tank to be fully achieved through an integrated stabilization system; performing real-time updating on the PID control parameters to obtain optimal PID parameter values and optimize the performance indexes of the integrated stabilization system. According to the energy optimization based integrated stabilization device dual neural network self-tuning PID control method, the requirements of the performance indexes of the ship stabilization can be met and the optimization time of the PID parameters can be saved so as to improve the practical application efficiency.

Description

technical field [0001] The invention relates to a control method for anti-rolling, in particular to a control method for anti-rolling of a ship. Background technique [0002] When a ship sails at sea, there will be six degrees of freedom due to the action of waves, of which the rolling motion is the most violent. Therefore, how to stabilize the roll has always been a hot issue that people pay attention to, and the fin stabilizer and water tank are the most commonly used ship stabilizer devices today, but each has its own shortcomings in application. The fin stabilizer has a better anti-rolling effect when the ship is at a high speed, and has almost no anti-rolling effect at a low or zero speed. The anti-rolling tank has limited anti-rolling capability, and even has a roll-increasing effect under certain sea conditions. In order to overcome their respective shortcomings and increase the seakeeping performance of the ship, it is also considered to be equipped with stabilizer...

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Although the genetic algorithm is used to optimize the

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